dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Tools: Change sign convention used by thermal calibrator 

The flight code assumes corrections have the same sign as the sensor bias error and are subtracted from the raw reading
This commit is contained in:
Paul Riseborough 2017-01-27 08:42:36 +11:00 committed by Lorenz Meier
parent c829e27a02
commit f9b75e68c9
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
Tools/process_sensor_caldata.py
View File

@ -71,8 +71,7 @@ def temp_calibration(data, topic, fields, units, label):
'type': 'FLOAT',
}
# curve fit the data for corrections - note
# corrections have oppsite sign to sensor bias
# curve fit the data for corrections - note corrections have same sign as sensor bias and will need to be subtracted from the raw reading to remove the bias
try:
params['ID']['val'] = int(np.median(data['device_id']))
except:
@ -90,7 +89,7 @@ def temp_calibration(data, topic, fields, units, label):
temp_resample = temp_rel_resample + params['TREF']['val']
for i, field in enumerate(fields):
coef = np.polyfit(temp_rel, -data[field], 3)
coef = np.polyfit(temp_rel, data[field], 3)
for j in range(3):
params['X{:d}_{:d}'.format(3-j, i)]['val'] = float(coef[j])
fit_coef = np.poly1d(coef)
@ -99,7 +98,7 @@ def temp_calibration(data, topic, fields, units, label):
# draw plots
plt.subplot(len(fields), 1, i + 1)
plt.plot(data['temperature'], data[field], 'b')
plt.plot(temp_resample, -resample, 'r')
plt.plot(temp_resample, resample, 'r')
plt.title('{:s} Bias vs Temperature'.format(topic))
plt.ylabel('{:s} bias {:s}'.format(field, units))
plt.xlabel('temperature (degC)')